PPT-Kinematics

u sing slides from D Lu Goals of this class Introduce Forward K inematics of mobile robots How Inverse K inematics for static and mobile robots can be derived Concept of . qqqq brPage 2br Jacobians Direct Differentiation fq fq fq mm mm mm 1 1 mmn n Jqq uuu 1 1 mmnn Jqq uu ij i Jq 1 1 mmn n Jqq uu xJ TGT Example xy lc lc yls ls 11 212 11 212 GT GT GGTGT ylclc lc 11 212 1 212 2 11 212 1 212 2 GT GT g meters feet 00 x m y m xy 1 2 origin 63 Points position is 224 from the origin at 63 above the x axis or xy position of 1 2 224 brPage 2br Relative Position Position of a second point with respect to a first point To convert between absolute re HM Fluid Mechanics M 6 Vectors C 6 Chemical Kinetics Nuclear Surface Chemistry P 7 Gravitation Properties of Matter M 7 3D Geometry C 7 GOC P 8 Ray optics M 8 Straight Line C 8 Isomerism P 9 Wave Optics Diffraction Polarisation Optical Instruments “Is your mama a llama?” I asked my friend Dave. .. “. No, she is not,” is the answer Dave gave.. “. She hangs by her feet, and she lives in a cave. I do not believe that’s how llamas behave.”. Now, given the joint angles . Ө1, . Ө. 2 . we can determine the . end effecter coordinates x . and y. . Forward kinematics. The . coordinates . (x, y) of the tool . are expressed . in . this coordinate . Kinematics and Dynamics of Machine Systems. Wrecker-Boom Example. October 18, . 2011. © Dan Negrut, . 2011. ME451, UW-Madison. “As . network administrator I can take down the network with one keystroke. . Chapter 2. Kinematics. .  . motion.. Dynamics .  . forces impacting motion.. Mechanics . .  . kinematics & dynamics. 1. 2.1 Displacement. 2. 2.1 Displacement. 3. instantaneous . velocity . Chapter 2. Kinematics. deals with the concepts that . are needed to describe motion.. Dynamics . deals with the effect that forces. have on motion.. Together, kinematics and dynamics form. the branch of physics known as . The Fab Four of Kinematics. ∆t . ∆t. x. f. I use x and y depending on horizontal or vertical. Many times the ∆ is missing but its there!!!.  . Question 1: Coming to a stop. As you drive in your car at 15 m/s (just a bit under 35 mph), you see a child’s ball roll into the street ahead of you. You hit the brakes and stop as quickly as you can. In this case, you come to rest in 1.5 s. How far does your car travel as you brake to a stop?. . Josep. . M. Porta. Closure Polynomials for . Strips of . Tetrahedra. What’s a strip of . tetrahedra. ?. If. . shared. . traingular. . face. degeneres, . the. . structure. . flexes. …. What’s the problem to solve?. AP Physics. Chapter 2. Describing Motion: Kinematics in One Dimension. AP Physics. Section 2-1 Reference Frames and Displacement. Describing Motion: Kinematics in One Dimension. IA1a - . . Students should understand the general relationships among position, velocity, and acceleration for the motion of a particle along a straight line . What measures must be known to…. Make a moving object catch a falling object?. Program a yellow light for safe use?. What should my notebook look like?. Notebooks are a waste, unless YOU can benefit from using them.. Computer. . Graphics. LET US ENTER INTO THE MAGICAL WORLD OF ANIMATION. Contents. INTRODUCTION. APPLICATIONS. DESIGN OF ANIMATION SEQUENCES. GENERAL COMPUTER ANIMATION FUNCTIONS. RASTER ANIMATIONS. COMPUTER ANIMATION LANGUAGES. Animation. From hand drawn animation. Lead animator draws poses at key frames. Inbetweener. draws frames between keys. Computer animation. Can have separate keys for different attributes. Squash and Stretch.